Linear velocity transformation in ROS

Hello,

I use camera to estimate the linear velocities in camera frame. I would like to transform these estimations of linear velocities from camera frame to robot frame. How can I do that? Are there any available commands can help us? I try to find in tf but only having lookupTwist not for this purpose.

Many thanks

Asked by tn0432 on 2015-03-20 21:01:36 UTC

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Answers

Create a frame that has the same orientation as robot frame but the same origin as camera frame, then use transformPoint on the velocity vector (which can be treated as a point that is relative to the camera frame) from camera frame to the shifted robot frame. Since it is linear velocity the velocity is the same everywhere on the robot, so the translated origin doesn't matter.

Asked by lucasw on 2015-03-23 10:52:48 UTC

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@lucas what about the angular velocity!!

Asked by rayane on 2019-08-19 09:32:29 UTC

@rayane were you able to figure out how to approach the angular velocity?

Asked by Joy16 on 2020-05-29 08:59:34 UTC

I used this void the code in TF (transform twist) here

Asked by rayane on 2020-05-29 10:31:45 UTC